✍ Scribed by Professor Miomir Vukobratović Ph. D., D. Sc., Assoc. professor Dragan Stokić Ph. D. (auth.)
No coin nor oath required. For personal study only.
The first book of the new, textbook series, entitled Applied Dynamics of Manipulation Robots: Modelling, Analysis and Examples, by M. Vukobratovic, published by Springer-Verlag (1989) was devoted to the problems of dynamic models and dynamic analysis of robots. The present book, the second in the series, is concerned with the problems of the robot control. In conceiving this textbook, several dillemas arouse. The main issue was the question on what should be incorporated in a textbook on such a complex subject. Namely, the robot control comprises a wide range of topics related to various aspects of robotics, starting from the syn thesis of the lowest, executive, control level, through the synthesis of trajectories (which is mainly related to kinematic models of robots) and various algorithms for solving the problem of task and robot moti on planning (including the solving of the problems by the methods of artificial intelligence) to the aspects of processing the data obtai ned from sensors. The robot control is closely related to the robot pro gramming (i. e. the development of highly-specialized programming lan guages for robot programming). Besides, numerous aspects of the con trol realization should be included here. It is obvious that all these aspects of control cannot be treated in detail in the frame of a text book.
Front Matter....Pages I-XVI
Concepts of Manipulation Robot Control....Pages 1-26
Kinematic Control Level....Pages 27-51
Synthesis of Servo Systems for Robot Control....Pages 52-151
Control of Simultaneous Motions of Robot Joints....Pages 152-232
Synthesis of Robot Dynamic Control....Pages 233-294
Variable Parameters and Concept of Adaptive Robot Control....Pages 295-313
Control of Constrained Motion of Robot....Pages 314-467
Back Matter....Pages 468-472
Control Structures and Microprogramming;Engineering Design;Control, Robotics, Mechatronics;Engineering Economics, Organization, Logistics, Marketing;Communications Engineering, Networks
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